Research
Research
Research
Research
39,379+ open-access research outputs.
The conventional Artificial Potential Field (APF) is fundamentally limited by the local minima issue and its inability to account for the kinematics of moving obstacles. This paper addresses the criti…
Developing robust and general-purpose manipulation policies represents a fundamental objective in robotics research. While Vision-Language-Action (VLA) models have demonstrated promising capabilities …
Accurate three-dimensional delineation of liver tumors on contrast-enhanced CT is a prerequisite for treatment planning, navigation and response assessment, yet manual contouring is slow, observer-dep…
Global Navigation Satellite System (GNSS) signals are fundamental in applications across navigation, transportation, and industrial networks. However, their extremely low received power makes them hig…
For full-size humanoid robots, even with recent advances in reinforcement learning-based control, achieving reliable locomotion on complex terrains, such as long staircases, remains challenging. In su…
We consider the problem of recovering an unknown low-dimensional vector from noisy, underdetermined observations. We focus on the Generalized Projected Gradient Descent (GPGD) framework, which unifies…
We study safety-critical control on fully actuated mechanical systems by means of Zeroing Control Barrier Functions (ZCBFs) defined on Lie Groups. Specifically, we introduce and theoretically validate…
Behavior-cloning based visuomotor policies enable precise manipulation but often inherit the slow, cautious tempo of human demonstrations, limiting practical deployment. However, prior studies on acce…
Human hand simulation plays a critical role in digital twin applications, requiring models that balance anatomical fidelity with computational efficiency. We present a complete pipeline for constructi…
This work aims to learn the directed acyclic graph (DAG) that captures the instantaneous dependencies underlying a multivariate time series. The observed data follow a linear structural vector autoreg…
Integrating autonomous mobile robots into human environments requires human-like decision-making and energy-efficient, event-based computation. Despite progress, neuromorphic methods are rarely applie…
Single-channel audio separation aims to separate individual sources from a single-channel mixture. Most existing methods rely on supervised learning with synthetically generated paired data. However, …
Segmentation is the identification of anatomical regions of interest, such as organs, tissue, and lesions, serving as a fundamental task in computer-aided diagnosis in medical imaging. Although deep l…
The interpretation of Chest X-ray is an important diagnostic issue in clinical practice and especially in the resource-limited setting where the shortage of radiologists plays a role in delayed diagno…
Adaptive morphogenetic robots adapt their morphology and control policies to meet changing tasks and environmental conditions. Many such systems leverage soft components, which enable shape morphing b…
Modern logistics systems face increasing difficulty in identifying counterfeit products, fraudulent returns, and hazardous items concealed within packages, yet current package screening methods remain…
Integrating contention-based random access procedures into low Earth orbit (LEO) satellite communication (SatCom) systems poses new challenges, including long propagation delays, large Doppler shifts,…
This paper presents a hetero-associative sequential memory system for mobile manipulators that learns compact, neuromorphic bindings between robot joint states and tactile observations to produce step…
Haptic interfaces play a critical role in medical teleoperation by enabling surgeons to interact with remote environments through realistic force and motion feedback. Achieving high fidelity in such s…
Control Barrier Functions (CBFs) have been used to enforce safety and task specifications expressed in Signal Temporal Logic (STL). However, existing CBF-STL approaches typically rely on fixed hyperpa…
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